自动化上位机开发C#100例:雷赛运动控制卡EtherCAT总线卡C#封装类

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LTDMC.dll下载

最新的雷赛运动控制卡SDK,LTDMC.dll下载:
https://download.csdn.net/download/Mr_Wei_/88847834

LTDMC.cs LTDMC.dll C#调用封装下载

最新的雷赛运动控制卡SDK,LTDMC.cs带中文注释 下载:
https://download.csdn.net/download/Mr_Wei_/88847839

ICard.cs 运动控制卡接口

using System.Collections.Generic;namespace iSystem
{public interface ICard{/// <summary>  /// 卡ID  /// </summary> int CardID { get; set; }/// <summary>  /// 第几张卡  /// </summary> int CardNo { get; set; }/// <summary>  /// 卡名称  /// </summary> string CardName { get; set; }/// <summary>  /// 卡类型 0:2410 1:总线  /// </summary> CardType CardType { get; set; }/// <summary>  /// 是否使用  /// </summary> bool IsUsed { get; set; }/// <summary>  /// 是否初始化完成  /// </summary> bool InitSucced { get; set; }/// <summary>/// 初始化/// </summary>/// <returns></returns>int Init();/// <summary>/// 关闭/// </summary>/// <returns></returns>int UnInit();/// <summary>/// 软复位/// </summary>/// <returns></returns>int SoftReset();/// <summary>/// 硬复位/// </summary>/// <returns></returns>int Reset();/// <summary>/// 获取总线卡错误代码/// </summary>/// <returns></returns>int GetErrCode();/// <summary>/// 清除总线卡错误代码/// </summary>/// <returns></returns>int ClearErrCode();/// <summary>/// 多轴插补/// </summary>/// <param name="lstMotor">电机列表</param>/// <param name="lstDist">目标位置</param>/// <param name="mode">移动模式</param>/// <returns></returns>bool MultMove(List<Motor> lstMotor, List<double> lstDist, int mode = 0, ushort crd = 0);/// <summary>/// 检测多轴运动是否停止/// </summary>/// <param name="crd"></param>/// <returns>0停止 1未停止</returns>int CheckMultMoveDone(ushort crd = 0);/// <summary>/// 等多轴运动停止/// </summary>/// <param name="OutTime">等待时间</param>/// <param name="crd"></param>/// <returns>是否超时</returns>bool WaitMultMoveDone(int OutTime, ushort crd = 0);}
}

Card.cs 运动控制卡抽象类

using System.Collections.Generic;namespace iSystem
{public partial class Card : ICard{#region Properties/// <summary>  /// 卡ID  /// </summary> public int CardID { get; set; } = 1;/// <summary>  /// 第几张卡  /// </summary> public int CardNo { get; set; } = 0;/// <summary>  /// 卡名称  /// </summary> public string CardName { get; set; } = "卡1";/// <summary>  /// 卡类型 0:2410 1:总线  /// </summary> public CardType CardType { get; set; } = CardType.LS2410;/// <summary>  /// 是否使用  /// </summary> public bool IsUsed { get; set; } = true;/// <summary>  /// 是否初始化完成  /// </summary> public bool InitSucced { get; set; } = false;#endregion#region Constructorspublic Card(){}public Card(int cardID){CardID = cardID;}public Card(Card model){CardID = model.CardID;CardName = model.CardName;CardNo = model.CardNo;CardType = model.CardType;IsUsed = model.IsUsed;InitSucced = model.InitSucced;}#endregion#region Methods/// <summary>/// 初始化/// </summary>/// <returns></returns>public virtual int Init(){//int aa = Program.g_MachineType;return 0;}/// <summary>/// 关闭/// </summary>/// <returns></returns>public virtual int UnInit(){return 0;}/// <summary>/// 软复位/// </summary>/// <returns></returns>public virtual int SoftReset(){return 0;}/// <summary>/// 硬复位/// </summary>/// <returns></returns>public virtual int Reset(){return 0;}/// <summary>/// 获取总线卡错误代码/// </summary>/// <returns></returns>public virtual int GetErrCode(){return 0;}/// <summary>/// 清除总线卡错误代码/// </summary>/// <returns></returns>public virtual int ClearErrCode(){return 0;}/// <summary>/// 多轴插补/// </summary>/// <param name="lstMotor">电机列表</param>/// <param name="lstDist">目标位置</param>/// <param name="mode">移动模式</param>/// <returns></returns>public virtual bool MultMove(List<Motor> lstMotor, List<double> lstDist, int mode = 0, ushort crd = 0){return false;}/// <summary>/// 检测多轴运动是否停止/// </summary>/// <param name="crd"></param>/// <returns>0停止 1未停止</returns>public virtual int CheckMultMoveDone(ushort crd = 0){return 1;}/// <summary>/// 等多轴运动停止/// </summary>/// <param name="OutTime">等待时间</param>/// <param name="crd"></param>/// <returns>是否超时</returns>public virtual bool WaitMultMoveDone(int OutTime, ushort crd = 0){bool result = false;return result;}#endregion}
}

CardLTDMC.cs 雷赛运动控制卡EtherCAT总线卡实现类

using System;
using System.Windows.Forms;namespace iSystem
{public class CardLTDMC : Card{public CardLTDMC() : base(){//CardName = "DMC2410";}public CardLTDMC(int cardID) : base(cardID){this.CardID = cardID;}public CardLTDMC(Card model) : base(model){}/// <summary>/// 初始化电机卡/// </summary>/// <returns>返回卡数</returns>public override int Init(){int result = 0;InitSucced = false;try{result = LTDMC.dmc_board_init();ushort _num = 0;ushort[] cardids = new ushort[8];uint[] cardtypes = new uint[8];short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);if (result > 0)InitSucced = true;}catch (Exception ex){string msg = "电机卡初始化失败!" + ex;MessageBox.Show(msg);result = 0;//throw;}return result;}/// <summary>/// 关闭电机卡/// </summary>/// <returns></returns>public override int UnInit(){int result = 1;try{LTDMC.dmc_board_close();InitSucced = false;}catch (System.Exception ex){string msg = "电机卡卸载失败!" + ex;MessageBox.Show(msg);result = 0;}return result;}public override int SoftReset(){int result = 1;result = LTDMC.dmc_soft_reset((ushort)CardNo);//UnInit();//for (int i = 0; i < 15; i++)//总线卡软件复位耗时15s左右//{//    Application.DoEvents();//    Thread.Sleep(1000);//}//Init();return result;}/// <summary>/// 获取总线卡错误/// </summary>/// <returns>0正常,其它值出错</returns>public override int GetErrCode(){ushort errCode = 0;LTDMC.nmc_get_errcode((ushort)CardNo, 2, ref errCode);return errCode;}/// <summary>/// 清除总线卡错误代码/// </summary>/// <returns></returns>public override int ClearErrCode(){short errCode = 0;errCode = LTDMC.nmc_clear_errcode((ushort)CardNo, 2);return errCode;}}
}

CardList.cs 总线卡列表封装

using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;namespace iSystem
{public class CardList{private static readonly string ConfigPath = $@"{GlobalData.ConfigDir}card.json";public static Dictionary<int, Card> Devs = new Dictionary<int, Card>();public static ushort CardID=0;/// <summary>/// 初始化文件/// </summary>public static void InitJsonFile(){//Devs.Add(0, new CardDMC2410(0));//Devs.Add(1, new CardDMC2410(1));//Devs.Add(2, new CardDMC2410(2));//Devs.Add(3, new CardDMC2410(3));Devs.Add(0, new CardLTDMC(0));Save();}/// <summary>/// 加载/// </summary>public static void Load(){if (!File.Exists(ConfigPath)){InitJsonFile();}Devs = Loader.LoadFromJson<Dictionary<int, Card>>(ConfigPath);}/// <summary>/// 初始化电机卡/// </summary>/// <returns>返回卡数</returns>public static void Init(){IsInitSucceed = false;try{int num = LTDMC.dmc_board_init();if (num <= 0 || num > 8){//UIHelper.ShowError("电机卡初始化失败!");}ushort _num = 0;ushort[] cardids = new ushort[8];uint[] cardtypes = new uint[8];short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);if (num > 0){IsInitSucceed = true;CardID = cardids[0];}}catch (Exception ex){string msg = "电机卡初始化失败!" + ex.Message;UIHelper.ShowErrorForm(msg);}}/// <summary>/// 硬复位/// </summary>/// <returns></returns>public static async Task<bool> Reset(){Logger.Info("总线卡硬件复位进行中……");LTDMC.dmc_board_reset();LTDMC.dmc_board_close();for (int i = 15; i > 0; i--)//总线卡硬件复位耗时15s左右{Application.DoEvents();await Task.Delay(1000);Logger.Info($"总线卡硬复位……{i}s");}//MotorListForm.Instance.HideWaitForm();LTDMC.dmc_board_init();Logger.Info("总线卡硬件复位完成,请确认总线状态");ushort errcode = 0;LTDMC.nmc_get_errcode(CardID, 2, ref errcode);if (errcode == 0){Logger.Info("EtherCAT总线正常");return true;}else{Logger.Error($"EtherCAT总线出错 errcode:{errcode}");return false;}}/// <summary>/// 软复位/// </summary>/// <returns></returns>public static async Task<bool> SoftReset(){Logger.Info("总线卡软件复位进行中……");LTDMC.dmc_soft_reset(CardID);LTDMC.dmc_board_close();ushort errcode = 0;for (int i = 15; i > 0; i--)//总线卡软复位耗时15s左右{Application.DoEvents();await Task.Delay(1000);Logger.Info($"总线卡软复位……{i}s");//LTDMC.nmc_get_errcode(CardID, 2, ref errcode);//if (errcode == 0)//{//    break;//}}LTDMC.dmc_board_init();Logger.Info("总线卡软复位完成,请确认总线状态");LTDMC.nmc_get_errcode(CardID, 2, ref errcode);if (errcode == 0){Logger.Info("EtherCAT总线正常");return true;}else{Logger.Error($"EtherCAT总线出错:{errcode}");return false;}}/// <summary>/// 获取总线状态/// </summary>/// <returns></returns>public static bool GetStatus(){ushort errcode = 0;LTDMC.nmc_get_errcode(0, 2, ref errcode);return errcode == 0;}/// <summary>/// 直线插补相对运动/// </summary>public static bool LineOffset(IMotor aMotor, IMotor bMotor, double aDist, double bDist){if (!CardList.IsInitSucceed)return false;ushort[] AxistList = new[] { aMotor.AxisNo, bMotor.AxisNo };double[] Target_Pos = new double[] { aDist, bDist };ushort mode = 0;ushort crd = 0;LTDMC.dmc_set_vector_profile_unit(aMotor.CardNo, 0, aMotor.MinSpeed, aMotor.MaxSpeed, aMotor.AccTime, aMotor.DecTime, 100);LTDMC.dmc_line_unit(aMotor.CardNo, crd, 2, AxistList, Target_Pos, mode);while (LTDMC.dmc_check_done_multicoor(aMotor.CardNo, crd) == 0){Application.DoEvents();}return true;}/// <summary>/// 直线插补绝对运动/// </summary>public static bool LineTo(IMotor aMotor, IMotor bMotor, double aDist, double bDist){if (!CardList.IsInitSucceed)return false;ushort[] AxistList = new[] { aMotor.AxisNo, bMotor.AxisNo };double[] Target_Pos = new double[] { aDist, bDist };ushort mode = 1;ushort crd = 0;LTDMC.dmc_set_vector_profile_unit(aMotor.CardNo, 0, aMotor.MinSpeed, aMotor.MaxSpeed, aMotor.AccTime, aMotor.DecTime, 100);LTDMC.dmc_line_unit(aMotor.CardNo, crd, 2, AxistList, Target_Pos, mode);//while (LTDMC.dmc_check_done_multicoor(aMotor.CardNo, crd) == 0)//{//    Application.DoEvents();//}return true;}/// <summary>/// 检测插值运动是否停止/// </summary>public static bool CheckLineDone(){while (LTDMC.dmc_check_done_multicoor(0,0) == 0){Application.DoEvents();}return (LTDMC.dmc_check_done_multicoor(0, 0) == 1);}/// <summary>/// 等多轴运动停止/// </summary>public bool WaitLineDone(int outTime){return HiTimer.WaitCondition(CheckLineDone, outTime);}/// <summary>/// 紧急停止所有轴/// </summary>public void EmergentStop(){LTDMC.dmc_emg_stop(0);}/// <summary>/// 保存/// </summary>public static void Save(){Loader.SaveToJson(Devs, ConfigPath);}/// <summary>/// 卡初始化是否成功/// </summary>public static bool IsInitSucceed { get; set; }public static Card GetByKey(int key){return Devs.ContainsKey(key) ? Devs[key] : null;}public static Card GetByIndex(int index){return Devs[index];}public static int Count => Devs.Count();/// <summary>/// 卡0/// </summary>public static Card Card0 => Devs[0];/ <summary>/ 卡1/ </summary>//public static Card DMC24101 => Devs[1];/ <summary>/ 卡2/ </summary>//public static Card DMC24102 => Devs[2];/ <summary>/ 卡3/ </summary>//public static Card DMC24103 => Devs[3];}
}